import rclpy
from rclpy.node import Node
from Arm_Lib import Arm_Device
Arm = Arm_Device()

class arm_control(Node):
    def __init__(self):
        super().__init__("arm_control")
        self.get_logger().info("arm_control started.")
        Arm.Arm_serial_servo_write(1, 180, 500)
        Arm.Arm_serial_servo_write(2, 90, 500)
        Arm.Arm_serial_servo_write(3, 180, 500)
        Arm.Arm_serial_servo_write(4, 180, 500)
        Arm.Arm_serial_servo_write(5, 180, 500)
        Arm.Arm_serial_servo_write(6, 180, 500)

def main(args=None):
    
    rclpy.init(args=args)
    node = arm_control()
    rclpy.spin(node)
    rclpy.shutdown()